Related papers: Tactile Dexterity: Manipulation Primitives with Ta…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…
Continuous in-hand manipulation is an important physical interaction skill, where tactile sensing provides indispensable contact information to enable dexterous manipulation of small objects. This work proposed a framework for end-to-end…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…
Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain object structures--and efficiency--swift…
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics. Most prominent work in this area focuses on learning controllers or policies that either operate on visual observations or state estimates derived…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…
The sense of touch is an essential ability for skillfully performing a variety of tasks, providing the capacity to search and manipulate objects without relying on visual information. In this paper, we introduce a multi-finger robot system…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…